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List of all members | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes

Detailed Description

Lightweight 2D point.

Allows coordinate access using [] operator.

See also
mrpt::poses::CPoint2D

Definition at line 33 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types

enum  { static_size = 2 }
 

Public Member Functions

 TPoint2D (const TPose2D &p)
 Constructor from TPose2D, discarding phi. More...
 
 TPoint2D (const TPoint3D &p)
 Constructor from TPoint3D, discarding z. More...
 
 TPoint2D (const TPose3D &p)
 Constructor from TPose3D, discarding z and the angular coordinates. More...
 
template<class DERIVEDCLASS >
 TPoint2D (const mrpt::poses::CPoseOrPoint< DERIVEDCLASS > &p)
 Constructor from CPoseOrPoint, perhaps losing 3D information. More...
 
 TPoint2D (const mrpt::utils::TPixelCoordf &p)
 Implicit transformation constructor from TPixelCoordf. More...
 
 TPoint2D (const mrpt::poses::CPoint2D &p)
 Implicit constructor from mrpt::poses::CPoint2D. More...
 
 TPoint2D (double xx, double yy)
 Constructor from coordinates. More...
 
 TPoint2D ()
 Default fast constructor. More...
 
double & operator[] (size_t i)
 Coordinate access using operator[]. More...
 
const double & operator[] (size_t i) const
 Coordinate access using operator[]. More...
 
void getAsVector (std::vector< double > &v) const
 Transformation into vector. More...
 
bool operator< (const TPoint2D &p) const
 
TPoint2Doperator+= (const TPoint2D &p)
 
TPoint2Doperator-= (const TPoint2D &p)
 
TPoint2Doperator*= (double d)
 
TPoint2Doperator/= (double d)
 
TPoint2D operator+ (const TPoint2D &p) const
 
TPoint2D operator- (const TPoint2D &p) const
 
TPoint2D operator* (double d) const
 
TPoint2D operator/ (double d) const
 
void asString (std::string &s) const
 Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" ) More...
 
std::string asString () const
 
void fromString (const std::string &s)
 Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" ) More...
 
double norm () const
 Point norm. More...
 

Static Public Member Functions

static size_t size ()
 

Public Attributes

double x
 
double y
 X,Y coordinates. More...
 

Member Enumeration Documentation

anonymous enum
Enumerator
static_size 

Definition at line 34 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

mrpt::math::TPoint2D::TPoint2D ( const TPose2D p)
explicit

Constructor from TPose2D, discarding phi.

See also
TPose2D

Definition at line 42 of file lightweight_geom_data.cpp.

mrpt::math::TPoint2D::TPoint2D ( const TPoint3D p)
explicit

Constructor from TPoint3D, discarding z.

See also
TPoint3D

Definition at line 43 of file lightweight_geom_data.cpp.

mrpt::math::TPoint2D::TPoint2D ( const TPose3D p)
explicit

Constructor from TPose3D, discarding z and the angular coordinates.

See also
TPose3D

Definition at line 44 of file lightweight_geom_data.cpp.

template<class DERIVEDCLASS >
mrpt::math::TPoint2D::TPoint2D ( const mrpt::poses::CPoseOrPoint< DERIVEDCLASS > &  p)
inlineexplicit

Constructor from CPoseOrPoint, perhaps losing 3D information.

See also
CPoseOrPoint mrpt::poses::CPoint3D,CPose2D,CPose3D

Definition at line 55 of file lightweight_geom_data.h.

mrpt::math::TPoint2D::TPoint2D ( const mrpt::utils::TPixelCoordf p)
inline

Implicit transformation constructor from TPixelCoordf.

Definition at line 58 of file lightweight_geom_data.h.

mrpt::math::TPoint2D::TPoint2D ( const mrpt::poses::CPoint2D p)

Implicit constructor from mrpt::poses::CPoint2D.

Definition at line 45 of file lightweight_geom_data.cpp.

mrpt::math::TPoint2D::TPoint2D ( double  xx,
double  yy 
)
inline

Constructor from coordinates.

Definition at line 65 of file lightweight_geom_data.h.

mrpt::math::TPoint2D::TPoint2D ( )
inline

Default fast constructor.

Initializes to garbage.

Definition at line 69 of file lightweight_geom_data.h.

Member Function Documentation

void mrpt::math::TPoint2D::asString ( std::string s) const
inline

Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )

See also
fromString

Definition at line 130 of file lightweight_geom_data.h.

References mrpt::mrpt::format().

std::string mrpt::math::TPoint2D::asString ( ) const
inline

Definition at line 131 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

void mrpt::math::TPoint2D::fromString ( const std::string s)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )

See also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 51 of file lightweight_geom_data.cpp.

References ASSERTMSG_, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::math::TPoint2D::getAsVector ( std::vector< double > &  v) const
inline

Transformation into vector.

Definition at line 77 of file lightweight_geom_data.h.

References mrpt::poses::operator<().

double mrpt::math::TPoint2D::norm ( ) const
inline
TPoint2D mrpt::math::TPoint2D::operator* ( double  d) const
inline

Definition at line 118 of file lightweight_geom_data.h.

TPoint2D& mrpt::math::TPoint2D::operator*= ( double  d)
inline

Definition at line 96 of file lightweight_geom_data.h.

TPoint2D mrpt::math::TPoint2D::operator+ ( const TPoint2D p) const
inline

Definition at line 108 of file lightweight_geom_data.h.

TPoint2D& mrpt::math::TPoint2D::operator+= ( const TPoint2D p)
inline

Definition at line 84 of file lightweight_geom_data.h.

References x, and y.

TPoint2D mrpt::math::TPoint2D::operator- ( const TPoint2D p) const
inline

Definition at line 113 of file lightweight_geom_data.h.

TPoint2D& mrpt::math::TPoint2D::operator-= ( const TPoint2D p)
inline

Definition at line 90 of file lightweight_geom_data.h.

References x, and y.

TPoint2D mrpt::math::TPoint2D::operator/ ( double  d) const
inline

Definition at line 123 of file lightweight_geom_data.h.

TPoint2D& mrpt::math::TPoint2D::operator/= ( double  d)
inline

Definition at line 102 of file lightweight_geom_data.h.

bool mrpt::math::TPoint2D::operator< ( const TPoint2D p) const

Definition at line 46 of file lightweight_geom_data.cpp.

References x, and y.

double& mrpt::math::TPoint2D::operator[] ( size_t  i)
inline

Coordinate access using operator[].

Order: x,y

Definition at line 71 of file lightweight_geom_data.h.

const double& mrpt::math::TPoint2D::operator[] ( size_t  i) const
inline

Coordinate access using operator[].

Order: x,y

Definition at line 73 of file lightweight_geom_data.h.

static size_t mrpt::math::TPoint2D::size ( )
inlinestatic

Member Data Documentation

double mrpt::math::TPoint2D::x

Definition at line 35 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::maps::CPointsMap::clipOutOfRange(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::math::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::TLine2D::evaluatePoint(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::math::getAngleBisector(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TSegment2D::getCenter(), mrpt::math::TPolygon2D::getCenter(), mrpt::maps::CPointsMap::getPoint(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::intersect(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::isLeft(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeTwoClosestPoint2D(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::poses::operator+(), operator+=(), operator-=(), operator<(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), run_rnav_test(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::CPointsMap::setPoint(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), TEST(), mrpt::math::TLine2D::TLine2D(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

double mrpt::math::TPoint2D::y

X,Y coordinates.

Definition at line 35 of file lightweight_geom_data.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::math::areAligned(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicND::calcRepresentativeSectorForGap(), mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::maps::CPointsMap::clipOutOfRange(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::math::TPose2D::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::math::TPolygon2D::contains(), mrpt::poses::CPoint2D::CPoint2D(), mrpt::math::distance(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::TLine2D::evaluatePoint(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::math::getAngleBisector(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TSegment2D::getCenter(), mrpt::math::TPolygon2D::getCenter(), mrpt::maps::CPointsMap::getPoint(), mrpt::math::getRectangleBounds(), mrpt::math::getSegmentBisector(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize(), mrpt::math::intersect(), mrpt::poses::CPose2D::inverseComposePoint(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::isLeft(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2D(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeNClosestPoint2DIdx(), mrpt::math::KDTreeCapable< CFeatureList >::kdTreeTwoClosestPoint2D(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::math::operator!=(), mrpt::poses::operator+(), operator+=(), operator-=(), operator<(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), run_rnav_test(), mrpt::nav::CHolonomicND::searchBestGap(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::maps::CPointsMap::setPoint(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT(), TEST(), mrpt::math::TLine2D::TLine2D(), mrpt::topography::transformHelmert2D(), mrpt::topography::transformHelmert2D_TOPCON(), unsafeProjectPoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().




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